摘要
将多指手的设计分解为手指机构的灵巧性设计及手指的合理布位两个子问题。针对子问题一，以手指雅可比矩阵条件数的倒数为位形操作灵巧性指标确定了合理的手指杆长比例及指端的灵巧操作区间。以灵巧操作速度和灵巧操作力为指端操作灵巧性指标，给出了确定手指驱动器功率的算法。对于子问题二，根据操作灵巧性对各指端灵巧操作区间相对位姿关系的要求，给出了手指布位的一般性原则。
The problem of the design of multi-fingered hand is divided into two sub-problems, i.e, the dexterity design of finger mechanisms and the fixing of finger positions. For sub-problem one ,the suitable proportion of finger link strengths and the fingertip dexterous manipulating space are determined by the reciprocal of conditation number of the finger Jacobian matrix, which is defined as the quality measure of configuration dexterity of manipulation. And then, the method to determine the powers of finger actuators is presented according to the desired dexterous manipulating velocities and forces. For sub-problem two,based on the position relationships of fingertip dexterous manipulating spaces, which desired by the manipulating dexterity of multi-fingered hand, a general principle used to determine the positions of fingers on the palm is presented.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2000年第11期23-29,共7页
Journal of Mechanical Engineering
基金
国家自然科学基金!(59985001)
